Intelligent warehouse feeding system for pipe or bar sawing

Abstract

The application discloses a kind of intelligent warehousing feeding systems for pipe or bar sawing, including at least one vertical warehouse, the vertical warehouse is provided with storage location, and the side of vertical warehouse is provided with access gantry robot;The lower portion of vertical warehouse is provided with at least one group of feeding station and feeding temporary storage location arranged side by side, and the access gantry robot moves the material frame to the feeding temporary storage location, and the feeding station is provided with feeding rack, and one end of the feeding rack is provided with sawing host, and the feeding station and the feeding temporary storage location are provided with transfer device, which transfers the pipe or bar in the material frame to the feeding rack one by one, and the feeding rack is provided with clamping and feeding mechanism, which feeds the steel pipe axially to the sawing host.The feeding system can orderly store the pipe or bar, and can quickly transport the steel pipe to the feeding rack of sawing host, the space utilization of factory area is high, the logistics handling time and handling equipment investment are saved, and the cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic storage and loading for sawing of pipes or bars, and in particular to an intelligent storage and loading system for sawing of pipes or bars. Background Art

[0002] Currently, steel pipes and bars are cut to specified lengths using saws. The sawing process for these two types of bars is similar. For example, the process begins by unloading bundles of steel pipes from a truck using a crane. These bundles are then stacked in the workshop's raw material storage area, where support frames are typically installed. Alternatively, the pipes can be stacked directly in a cross-shaped pattern without the use of support frames. When the stacked steel pipes need to be sawed, a crane is used to suspend a bundle of steel pipes on top to the loading rack of the steel pipe sawing machine. After loosening the bundled steel pipes, the steel pipe loading rack is used to load the materials to complete the sawing. The specific structure of the loading rack is the patent number CN201820680372.7, and the patent name is a structure recorded as a loading rack for round tubes or round bars. The sawing host is located at the downstream end of the loading rack and is used to receive the steel pipes or steel bars fed in. The sawing host mainly uses a motor to drive the saw blade to rotate to saw the steel pipes or steel bars. There are relatively mature equipment available on the market for sawing hosts.

[0003] However, the current sawing process and equipment of the steel pipe have the following disadvantages: 1. Low space utilization, the storage of the steel pipe, the transfer of the steel pipe and the loading rack of the steel pipe all need to occupy a large place, the cost of the site is high, and the distance from the storage position of the steel pipe to the loading position and the sawing position of the steel pipe is relatively far; 2. The current storage, transfer of the steel pipe all need to be lifted and carried by the crane, the efficiency is low, the safety is low, and the repeated carrying is easy to occur, which wastes manpower and material resources; 3. The current storage of the steel pipe is unreasonable, the lower steel pipe is pressed by the upper steel pipe, which is easy to cause material bending; 4. The current steel pipe storage and management is relatively chaotic, when the specifications of the steel pipe are more, the storage and management of the steel pipe is particularly prominent, manual searching of the specifications of the steel pipe is needed, sometimes the cut steel pipe is pressed under the bottom by other steel pipes, which causes the upper steel pipe to be moved away, resulting in very low work efficiency; 5. The current steel pipe sawing process needs complex operation when supplementing or replacing the specifications, for example, when supplementing, the whole bundle of steel pipes in the storage area needs to be lifted manually to the loading rack; and the whole process is uncontrollable, for example, whether the crane is occupied or not, whether the worker is busy with other things, these uncontrollable factors cause long waiting time of the sawing machine and low efficiency; and for replacement, all the scattered pipes on the loading rack need to be sawed completely, and then the replacement operation can be performed, so the waiting time is longer, of course, the storage steel pipes on the loading rack can be removed in the middle, and then other specifications of steel pipes are supplemented, which increases the labor intensity of the workers, and still needs a long waiting time. SUMMARY

[0004] The technical problem to be solved by the present application is to provide an intelligent storage and loading system for pipe or bar sawing, which can orderly store pipes or bars, and quickly transfer the steel pipes to the loading rack of the sawing machine, has high space utilization, saves logistics and carrying time and equipment investment, and reduces cost.

[0005] To solve the above technical problems, the technical scheme of the present application is: an intelligent storage and loading system for pipe or bar sawing, comprising at least one vertical warehouse, a plurality of arrayed storage positions for storing material frames are arranged on the vertical warehouse, a movable storage and retrieval gantry robot for taking out or putting in the material frame from the storage position is arranged on one side of the vertical warehouse; at least one group of side-by-side loading stations and loading temporary storage positions are arranged below the vertical warehouse, the storage and retrieval gantry robot moves the material frame in any storage position to the loading temporary storage position, a loading rack is installed at the loading station, a sawing machine is arranged at one end of the loading rack, a transfer device for transferring the pipes or bars in the material frame to the loading rack one by one is arranged between the loading station and the loading temporary storage position, and a clamping and feeding mechanism for feeding the steel pipe to the sawing machine axially is arranged on the loading rack.

[0006] As a preferred scheme, the transfer device comprises a transfer frame, a plurality of transfer slides are slidingly installed on the transfer frame, each transfer slide is driven by a horizontal transfer power device to synchronously reciprocate between a feeding station and a feeding temporary storage position, a connecting rod lifting mechanism is installed on each transfer slide, the connecting rod lifting mechanism is driven by a transfer lifting power device to lift, and a magnetic block or a transfer clamp is installed at the bottom of the connecting rod lifting mechanism.

[0007] As a preferred scheme, the connecting rod lifting mechanism comprises a first upper connecting rod and a second upper connecting rod, a first intermediate connecting rod and a second intermediate connecting rod, a first lower connecting rod and a second lower connecting rod, the first intermediate connecting rod and the second intermediate connecting rod are hinged at the middle part through an intermediate hinge shaft, the upper ends of the first intermediate connecting rod and the second intermediate connecting rod are hinged with the lower ends of the first upper connecting rod and the second upper connecting rod through a first upper hinge shaft and a second upper hinge shaft respectively, the upper ends of the first upper connecting rod and the second upper connecting rod are hinged with each other on the transfer slide, the lower ends of the first intermediate connecting rod and the second intermediate connecting rod are hinged with the upper ends of the first lower connecting rod and the second lower connecting rod through a first lower hinge shaft and a second lower hinge shaft respectively, and the lower ends of the first lower connecting rod and the second lower connecting rod are hinged with each other and connected with the magnetic block or the transfer clamp, and the transfer lifting power device is a linear power device which is installed between the first upper hinge shaft and the second upper hinge shaft.

[0008] As a preferred scheme, a supporting conveying roller group is arranged on the feeding frame, the clamping mechanism is arranged downstream of the supporting conveying roller group, the clamping mechanism comprises a clamping slide which is longitudinally slidingly installed on the feeding frame, the clamping slide is driven by a clamping power device to slide along the length direction of the pipe or the bar, and a clamping clamp for clamping the pipe or the bar is installed on the clamping slide.

[0009] As a preferred scheme, the access gantry robot comprises a walking frame which is driven by a walking mechanism to move linearly, a horizontal supporting beam is vertically slidingly installed on the walking frame, a vertical lifting power device which drives the horizontal supporting beam to lift is arranged on the walking frame, a push-pull device which pulls or pushes the material frame is horizontally slidingly installed on the horizontal supporting beam, the push-pull device is driven by a push-pull power device, and a supporting roller which facilitates the sliding of the material frame is arranged on the horizontal supporting beam.

[0010] As a preferred scheme, the push-pull device comprises a push-pull slide table which is horizontally slidingly installed on the horizontal supporting beam, the push-pull power device comprises a push-pull driving motor and a push-pull circulating chain which is driven by the push-pull driving motor, the push-pull circulating chain is connected with the push-pull slide table, a push-pull clamping block is movably installed on the side of the push-pull slide table which is close to the vertical warehouse, and the push-pull clamping block is driven by a clamping block driving device to expose or hide from the push-pull slide table.

[0011] As a preferred scheme, the access rack robot is provided with a vertical warehouse on each side, and the push-pull slide table is provided with the push-pull clamping block at each end, each push-pull clamping block is matched with the material frame on the vertical warehouse on one side.

[0012] As a preferred scheme, the push-pull slide table is provided with the mounting slot at each end, the push-pull clamping block is mounted in the mounting slot and is mounted on the push-pull slide table through the deflection shaft, and the bottom of the push-pull slide table is provided with the deflection power device for driving the deflection shaft to deflect.

[0013] As a preferred scheme, the vertical warehouse includes at least one vertical warehouse module, each vertical warehouse module includes two rows of spaced-apart vertical columns, the vertical columns in the same row are fixed through a plurality of horizontally arranged connecting support beams, and the vertical columns between different rows are fixed through a plurality of inclined bracing rods; different vertical warehouse modules are fixed through detachable intermediate connecting beams, the connecting support beams in the same horizontal plane in each vertical warehouse module are matched to form the bottom support beam of the storage location, the material frame is placed on the connecting support beam, and the connecting support beam is provided with the support roller facilitating the conveying of the material frame.

[0014] As a preferred scheme, the vertical column is provided with the connecting seat between the connecting support beams, the connecting seat between the adjacent vertical columns is detachably connected with the additional support beam parallel to the connecting support beam, the additional support beam at the same height between the adjacent vertical columns constitutes the bottom support beam of the supplementary storage location, and the additional support beam is provided with the support roller.

[0015] The effect of the present application is that: the intelligent warehouse feeding system for pipe or bar sawing includes at least one vertical warehouse, a plurality of arrayed storage locations for storing material frames are arranged on the vertical warehouse, a movable storage and retrieval gantry robot for taking out or putting in the material frame from the storage location is arranged on one side of the vertical warehouse; at least one group of side-by-side arranged feeding stations and feeding temporary storage locations are arranged below the vertical warehouse, the storage and retrieval gantry robot moves the material frame in any storage location to the feeding temporary storage location, a feeding rack is installed at the feeding station, a sawing main machine is arranged at one end of the feeding rack, a transfer device for transferring the pipe or bar in the material frame to the feeding rack one by one is arranged between the feeding station and the feeding temporary storage location, a clamping and feeding mechanism for axially feeding the steel pipe to the sawing main machine is arranged on the feeding rack, therefore, taking the steel pipe as an example, a plurality of steel pipes are placed in the material frame, then the storage and retrieval gantry robot is used to store the material frame in the designated storage location, the storage location, the material frame and the steel pipe are one-to-one corresponding, when sawing is needed, the storage and retrieval gantry robot takes down the material frame in the corresponding storage location to the feeding temporary storage location, the feeding rack and the feeding temporary storage location are directly side by side below the vertical warehouse, the feeding rack and the feeding temporary storage location can be multiple groups, therefore, there can be multiple sets of sawing main machines and feeding racks below the vertical warehouse, and one set of storage and retrieval gantry robot can be responsible for the steel pipe supply of multiple sets of sawing main machines, the moving distance of the storage and retrieval gantry robot is short and the efficiency is high; the steel pipes in the material frame on the feeding temporary storage location are transferred to the feeding rack one by one by the transfer device, then the clamping and feeding mechanism is used to feed the steel pipes to the sawing main machine for sawing, the intelligent warehouse feeding system for pipe or bar sawing can save the storage space of the steel pipes, greatly improve the utilization rate of the factory space, and the sawing efficiency is very high, the storage and retrieval gantry robot can only move in the area of the vertical warehouse, the time spent for storing and retrieving the material frame is short, therefore, the storage and retrieval gantry robot can adapt to multiple sawing main machines, the overall sawing efficiency is high, manual work is reduced, and the deformation of the steel pipes can be avoided.

[0016] Further, the connecting rod lifting mechanism comprises a first upper connecting rod and a second upper connecting rod, a first middle connecting rod and a second middle connecting rod, a first lower connecting rod and a second lower connecting rod, the middle portions of the first middle connecting rod and the second middle connecting rod are hingedly connected through a middle hinge shaft, the upper ends of the first middle connecting rod and the second middle connecting rod are hingedly connected with the lower ends of the first upper connecting rod and the second upper connecting rod through a first upper hinge shaft and a second upper hinge shaft respectively, the upper ends of the first upper connecting rod and the second upper connecting rod are hingedly connected with each other on the transfer sliding seat, the lower ends of the first middle connecting rod and the second middle connecting rod are hingedly connected with the upper ends of the first lower connecting rod and the second lower connecting rod through a first lower hinge shaft and a second lower hinge shaft respectively, the lower ends of the first lower connecting rod and the second lower connecting rod are hingedly connected with each other and connected with the magnetic block or the transfer clamp, the transfer lifting power device is a linear power device, which is installed between the first upper hinge shaft and the second upper hinge shaft, therefore, after the connecting rod lifting mechanism is adopted, the lifting of the magnetic block or the transfer clamp is driven by the first upper connecting rod and the second upper connecting rod, the first middle connecting rod and the second middle connecting rod, and the first lower connecting rod and the second lower connecting rod, when the linear power device drives the first upper hinge shaft and the second upper hinge shaft to move close to each other, the magnetic block or the transfer clamp is lowered, when the linear power device drives the first upper hinge shaft and the second upper hinge shaft to move away from each other, the magnetic block or the transfer clamp is raised, and the lifting of the magnetic block or the transfer clamp does not occupy the space above, therefore, the height of the feeding station and the feeding temporary storage position can be lower, so that the number of storage positions of the vertical warehouse can be larger at the same height, and the number of stored material frames can be larger.

[0017] Further, the feeding rack is provided with a supporting and conveying roller set, the supporting and conveying roller set is provided downstream of the clamping and conveying mechanism, the clamping and conveying mechanism comprises a clamping and conveying sliding seat which is longitudinally slidably installed on the feeding rack, the clamping and conveying sliding seat is driven by a clamping and conveying power device to slide along the length direction of the pipe or the bar, and the clamping and conveying sliding seat is provided with a clamping and conveying clamp for clamping the pipe or the bar, therefore, the transfer device can place the pipes of the material frame of the feeding temporary storage position on the supporting and conveying roller set one by one, and the clamping and conveying clamp can slide axially to clamp the pipe or the bar, and the end of the pipe will enter the sawing main machine to be sawed, and the whole process and action are very smooth and accurate.

[0018] Further, the access truss robot comprises a walking frame, the walking frame is driven to move linearly by a walking mechanism, a horizontal support beam is vertically slidably installed on the walking frame, a vertical lifting power device for driving the horizontal support beam to lift is arranged on the walking frame, a push-pull device for pulling or pushing the material frame is horizontally slidably installed on the horizontal support beam, the push-pull device is driven by a push-pull power device, and a support roller for facilitating the sliding of the material frame is arranged on the horizontal support beam. Therefore, through the above structure, the walking frame can move linearly, the horizontal support beam can vertically lift, and the push-pull device can horizontally slide. In this way, the walking frame can accurately walk to the side of a corresponding vertical column of storage locations, and then the horizontal support beam is lifted to make the push-pull device correspond to the position of the material frame of a storage location at a certain height of the vertical column. Then, the push-pull device can pull out the stored material frame or push the material frame into the empty storage location, and the material frame can smoothly move on the support roller on the horizontal support beam. The access truss robot can accurately move the push-pull device to any storage location, thereby ensuring the accuracy of the storage and access of the material frame.

[0019] Further, the push-pull device comprises a push-pull sliding table which is horizontally slidably installed on the horizontal support beam, the push-pull power device comprises a push-pull driving motor and a push-pull circulating chain driven by the push-pull driving motor, the push-pull circulating chain is connected with the push-pull sliding table, a push-pull clamping block is movably installed on the side of the push-pull sliding table close to the vertical storage, and the push-pull clamping block is driven by a clamping block driving device to protrude from or hide in the push-pull sliding table. Therefore, when the push-pull sliding table moves to the bottom of the material frame of the corresponding storage location, the push-pull clamping block only needs to be started to be higher than the push-pull sliding table. At this time, the push-pull clamping block can be hooked in the pre-set slot or hole of the material frame, so as to facilitate the completion of the push-pull action. The whole action is simple and reliable, and the push-pull circulating chain can effectively drive the push-pull sliding table to slide bidirectionally, thereby ensuring the accuracy of the action of storing and taking the material frame.

[0020] Further, one vertical storage is arranged on each side of the access truss robot, correspondingly, the push-pull clamping blocks are installed at both ends of the push-pull sliding table, and each push-pull clamping block is correspondingly matched with the material frame on the vertical storage on one side. In this way, one access truss robot can meet the requirements of storing and taking the material frame of the vertical storages on both sides. After the material frame is sent to the temporary storage location, the material frame has a plurality of steel pipes. It takes a certain time to cut one steel pipe by the cutting main machine. Therefore, the access truss robot can meet the use requirements of a plurality of cutting main machines of the vertical storages on both sides.

[0021] And since the two ends of the push-pull sliding table are provided with mounting grooves, the push-pull clamping blocks are located in the mounting grooves and are mounted on the push-pull sliding table by being deflected by the deflection shaft, and the bottom of the push-pull sliding table is provided with a deflection power device for driving the deflection of the deflection shaft, so that the push-pull clamping blocks of the push-pull sliding table can be driven to be deflected to be exposed or hidden by the deflection power device, and one deflection power device can drive the push-pull clamping blocks at both ends at the same time, and the structure is more reasonable.

[0022] And since the vertical warehouse comprises at least one vertical warehouse module, each vertical warehouse module comprises two rows of vertically arranged vertical columns, the vertical columns in the same row are fixed by a plurality of horizontally arranged connecting support beams, and the vertical columns in different rows are connected and fixed by a plurality of inclined support rods; different vertical warehouse modules are fixed by detachably connected intermediate connecting beams, and the connecting support beams in the same horizontal plane in each vertical warehouse module cooperate to form the bottom support beams of the storage locations, the material frame is placed on the connecting support beams, and the connecting support beams are provided with support rollers for facilitating the conveying of the material frame, so that the vertical warehouse can be combined by a plurality of vertical warehouse modules to meet the storage requirements of material frames of different lengths, and the inclined support rods, intermediate connecting beams and connecting support beams can make the whole vertical warehouse structure firm, so that the pipe or bar material can be effectively stored, the strength is high, and the safety and reliability are high.

[0023] And since the vertical columns are provided with connecting seats between the connecting support beams, the connecting seats between the adjacent vertical columns are detachably connected with additional support beams parallel to the connecting support beams, the additional support beams at the same height between the adjacent vertical columns constitute the bottom support beams of the supplementary storage locations, and the additional support beams are provided with the support rollers, so that the additional support beams can reduce the height of the material frame to store more material frames, and the vertical columns can store pipe materials of various specifications, and the adaptability is higher. BRIEF DESCRIPTION OF DRAWINGS

[0024] The application will be further described below in combination with the drawings and examples.

[0025] Figure 1 is a perspective view of an embodiment of the application;

[0026] Figure 2 is a side view of an embodiment of the application;

[0027] Figure 3 is a side view of a vertical warehouse;

[0028] Figure 4 is an enlarged view of a part of a vertical warehouse;

[0029] Figure 5 is a perspective view of a storage and retrieval truss robot;

[0030] Figure 6is a side view of the access truss robot;

[0031] Figure 7 is a perspective view of the horizontal support beam and the push-pull device;

[0032] Figure 8 is Figure 7 is an enlarged schematic view at A;

[0033] Figure 9 is a perspective view of the sawing main machine, the feeding rack and the transfer device;

[0034] Figure 10 is Figure 9 is an enlarged schematic view at B;

[0035] Figure 11 is a perspective view of the sawing main machine, the feeding rack and the transfer device from another angle;

[0036] Figure 12 is Figure 11 is an enlarged schematic view at C;

[0037] In the drawings: 1, vertical warehouse; 11, vertical warehouse module; 111, vertical column; 112, connecting support beam; 113, storage location; 114, connecting seat; 115, inclined support rod; 12, intermediate connecting beam; 2, access truss robot; 21, walking frame; 22, walking mechanism; 221, horizontal guide rail; 222, walking support seat; 223, walking motor; 23, horizontal support beam; 231, horizontal support guide rail; 24, vertical lifting power device; 241, winding motor; 242, winding drum; 25, push-pull device; 251, push-pull sliding table; 252, deflection shaft; 253, mounting groove; 254, push-pull clamping block; 26, push-pull power device; 261, driving motor; 262, push-pull circulating chain wheel; 3, sawing main machine; 4, material frame; 5, feeding rack; 6, transfer device; 61, transfer frame; 62, transfer sliding seat; 63, horizontal transfer power device; 631, mounting rod; 632, circulating chain; 64, connecting rod lifting mechanism; 641, first upper connecting rod; 642, second upper connecting rod; 643, first intermediate connecting rod; 644, second intermediate connecting rod; 645, first lower connecting rod; 646, second lower connecting rod; 647, transfer lifting power device; 648, intermediate hinged shaft; 65, magnetic attraction block; 7, support conveying roller group; 8, clamping mechanism; 81, clamping sliding seat; 82, fixed clamp; 83, sliding clamp; 84, clamping power device; 85, clamping power device; D, feeding temporary storage location; E, feeding station. DETAILED DESCRIPTION

[0038] The application will be further described in detail below through specific embodiments.

[0039] The pipe material in the embodiment is a metal pipe such as a steel pipe, and the bar material can also be a metal bar such as a steel bar.

[0040] The embodiment is illustrated by using a steel pipe.

[0041] As shown in Figures 1 to 12 , an intelligent storage feeding system for pipe or bar sawing includes at least one vertical warehouse 1, and a plurality of arrays of storage locations 113 for storing material frames 4 are arranged on the vertical warehouse 1, wherein, as shown in Figures 1 to 4 , the vertical warehouse 1 in the embodiment includes at least one vertical warehouse module 11, each vertical warehouse module 11 includes two rows of spaced-apart vertical columns 111, the vertical columns 111 in the same row are fixed by a plurality of horizontally arranged connecting support beams 112, and the vertical columns 111 in different rows are fixed by a plurality of inclined struts 115; different vertical warehouse modules 11 are fixed by detachable intermediate connecting beams 12. The vertical columns 111, the connecting support beams 112, the intermediate connecting beams 12, and the inclined struts 115 can be made of profiled steel, and the connecting support beams 112 and the vertical columns 111 can be fixed by welding or detachable fixed by bolts and fixing seats. The inclined struts 115 are generally preferably welded, and the intermediate connecting beams 12 can also be fixed between the vertical columns 111 by bolts and fixing seats. In the embodiment, the bottom of the vertical column 111 is fixed to the ground in a designated area of the factory, the ground can be reinforced, for example, the ground is internally poured with steel structures to enhance the supporting force, and the bottom of the vertical column 111 is conveniently fixed, and the top of the vertical warehouse 1 can be connected with the cross beam above the factory building, so that the vertical warehouse 1 is more firmly fixed and supported.

[0042] The connecting support beams 112 in the same horizontal plane in each vertical warehouse module 11 cooperate to form the bottom support beam of the storage location 113, the material frame 4 is placed on the connecting support beam 112, and the connecting support beam 112 is provided with support rollers (not shown in the figure) for facilitating the conveying of the material frame 4. In the embodiment, the length of the material frame 4 penetrates two vertical warehouse modules 11, and the support rollers on the vertical warehouse 1 can effectively support the material frame 4, facilitating smooth sliding of the material frame 4. The support rollers are commercially available, and their structure is a known technology.

[0043] The connecting seat 114 is arranged between the connecting support beams 112 on the column 111, and a supplementary support beam parallel to the connecting support beam 112 is detachably connected between the connecting seats 114 between the adjacent columns 111, the supplementary support beam at the same height between the adjacent columns 111 constitutes a bottom support beam of the supplementary storage location, and the support roller is arranged on the supplementary support beam. When the supplementary support beam is not added, the height of the storage location 113 is higher, and when the supplementary support beam is added, the number of the storage locations 113 is larger. The supplementary support beam can make the storage locations 113 of the vertical warehouse 1 more flexible and more adaptable. The vertical warehouse 1 is directly arranged in a workshop, and the workshop can replace a warehouse, and the space utilization rate is higher.

[0044] A movable access gantry robot 2 for taking out or putting in the material frame 4 from the storage location 113 is arranged on one side of the vertical warehouse 1; at least one set of side-by-side arranged feeding stations E and feeding temporary storage locations D are arranged below the vertical warehouse 1, the access gantry robot 2 moves the material frame 4 in any storage location 113 to the feeding temporary storage location D, a feeding frame 5 is arranged at the feeding station E, a sawing main machine 3 is arranged at one end of the feeding frame 5, a transfer device 6 for transferring the pipes or bars in the material frame 4 to the feeding frame 5 one by one is arranged between the feeding station E and the feeding temporary storage location D, and a clamping and feeding mechanism 8 for feeding the steel pipe in the axial direction to the sawing main machine 3 is arranged on the feeding frame 5.

[0045] The support conveying roller group 7 is arranged on the feeding frame 5, the downstream of the support conveying roller group 7 is provided with the clamping and feeding mechanism 8, the clamping and feeding mechanism 8 includes a clamping and feeding slide 81 longitudinally slidingly arranged on the feeding frame 5, the clamping and feeding slide 81 is driven by a clamping and feeding power device 85 to slide along the length direction of the pipe or bar, and a clamping and feeding clamp for clamping the pipe or bar is arranged on the clamping and feeding slide 81. In the embodiment, the feeding frame 5 directly extends into the inside of the vertical warehouse 1 and is located below the feeding station E of the storage location 113, the feeding temporary storage location D is located beside the feeding station E and is side by side with the feeding station E, the support conveying roller group 7 is used for conveying the pipe longitudinally into the clamp, so as to facilitate the clamp to clamp the pipe for feeding, in the embodiment, the clamping and feeding clamp includes a fixed clamp head 82 and a sliding clamp head 83, the sliding clamp head 83 is driven by a clamping power device 84, the clamping power device 84 can be preferably a cylinder, the clamping and feeding power device 85 can drive the clamping and feeding slide 81 to slide through a motor and a screw nut mechanism, of course, the clamping and feeding power device 85 can also be driven through other transmission modes, for example, a motor and a gear and rack mechanism.

[0046] The transfer device 6 comprises a transfer frame 61, which is directly fixed on the feeding frame 5 in this embodiment, so that space can be further saved. Meanwhile, the feeding station E and the feeding temporary storage location D are arranged on the feeding frame 5, so that space is further optimized. The feeding frame 5 is located below the vertical warehouse 1, so that the transfer time and distance of the material frame 4 and the bar material can be effectively reduced, the efficiency is higher, and the space utilization is also higher. The feeding frame 5 is also a frame structure made of profiles.

[0047] The transfer frame 61 is slidably installed with a plurality of transfer slides 62. Each transfer slide 62 is driven by a horizontal transfer power device 63 to synchronously reciprocate and slide between the feeding station E and the feeding temporary storage location D. In this embodiment, the horizontal transfer power device 63 adopts a motor and a chain transmission mechanism to realize the synchronous transmission of each transfer slide 62. Two longitudinally extending installation rods 631 are installed on the transfer machine. A plurality of chain wheels are fixed on the installation rod 631. Each group of chain wheels are connected by a circulating chain 632. One installation rod 631 is driven to rotate by the horizontal transfer power device 63 (motor). Each circulating chain 632 is fixed with the transfer slide 62, so that the transfer slide 62 is driven to slide in two directions by the forward and reverse operation of the circulating chain 632.

[0048] A connecting rod lifting mechanism 64 is installed on each transfer slide 62. The connecting rod lifting mechanism 64 is driven to lift by a transfer lifting power device 647. A magnetic block 65 or a transfer clamp is installed at the bottom of the connecting rod lifting mechanism 64. The magnetic block 65 can adopt the form of an electromagnet to complete the on-off of magnetism, so as to conveniently pick up or put down the pipe material (bar material). The transfer clamp can also adopt the current market pneumatic clamp to clamp the pipe material to be transferred to the supporting conveyor roller group 7.

[0049] As Figures 9 to 12As shown, in the embodiment, the connecting rod lifting mechanism 64 comprises first upper connecting rods 641 and second upper connecting rods 642, first middle connecting rods 643 and second middle connecting rods 644, first lower connecting rods 645 and second lower connecting rods 646, the middle portions of the first middle connecting rods 643 and the second middle connecting rods 644 are hingedly connected through a middle hinge shaft 648, the upper ends of the first middle connecting rods 643 and the second middle connecting rods 644 are hingedly connected with the lower ends of the first upper connecting rods 641 and the second upper connecting rods 642 through first upper hinge shafts and second upper hinge shafts respectively; the upper ends of the first upper connecting rods 641 and the second upper connecting rods 642 are hingedly connected with each other on the transfer sliding seat 62, the lower ends of the first middle connecting rods 643 and the second middle connecting rods 644 are hingedly connected with the upper ends of the first lower connecting rods 645 and the second lower connecting rods 646 through first lower hinge shafts and second lower hinge shafts respectively; the lower ends of the first lower connecting rods 645 and the second lower connecting rods 646 are hingedly connected with each other and connected with the magnetic suction block 65 or the transfer clamp, the transfer lifting power device 647 is a linear power device, which is installed between the first upper hinge shaft and the second upper hinge shaft, the transfer lifting power device 647 adopts a cylinder drive, when the cylinder drives the first upper hinge shaft and the second upper hinge shaft to approach, the magnetic suction block 65 or the transfer clamp descends, when the cylinder drives the first upper hinge shaft and the second upper hinge shaft to move away, the magnetic suction block 65 or the transfer clamp ascends, and the whole lifting action does not exceed the height of the transfer sliding seat 62, so that the lifting, transfer and descending of the pipe or bar can be completed in a limited height space.

[0050] As shown in the figure, Figures 5 to 8 As shown, the access truss robot 2 comprises a walking frame 21, which is driven to move linearly by a walking mechanism 22, in the embodiment, the walking mechanism 22 comprises walking supports 222 located on both sides of the walking frame 21 and walking motors 223 driving the walking supports 222 to slide, horizontal guide rails 221 are fixedly installed on the ground to facilitate the movement of the walking supports 222, the walking supports 222 are slidingly installed on the horizontal guide rails 221, and the walking supports 222 are driven by the walking motors 223, the walking motors 223 are located in front of the two walking supports 222 and simultaneously drive the drive wheels on the walking supports 222 through drive shafts, so as to realize the overall movement of the walking frame.

[0051] The walking frame 21 is vertically slidably installed with a horizontal support beam 23, and the walking frame 21 is provided with a vertical lifting power device 24 for driving the horizontal support beam 23 to lift, wherein the vertical lifting power device 24 comprises a winch for lifting the horizontal support beam 23 by a steel wire rope, wherein the winch is fixed below the walking frame 21, the winch comprises a winding drum 242 and a winding motor 241 for driving the winding drum 242 to wind, and a transition winding wheel is arranged above the walking frame 21, and the steel wire rope is fixed with the horizontal support beam 23 after winding around the transition winding wheel, so that the winding motor 241 can accurately wind the steel wire, thereby driving the horizontal support beam 23 to accurately stop at a specified height.

[0052] The horizontal support beam 23 is horizontally slidably installed with a push-pull device 25 for pulling or pushing the material frame 4, and the push-pull device 25 is driven by a push-pull power device 26, and the horizontal support beam 23 is provided with support rollers for facilitating the sliding of the material frame 4.

[0053] The sliding direction of the walking frame 21 is perpendicular to the length direction of the material frame 4, and the sliding direction of the push-pull device 25 is parallel to the length direction of the material frame 4.

[0054] The horizontal support beam 23 is horizontally slidably installed with a push-pull device 25 for pulling or pushing the material frame 4, and the push-pull device 25 is driven by a push-pull power device 26, and the horizontal support beam 23 is provided with support rollers for facilitating the sliding of the material frame 4. Figure 7 And Figure 8As shown, the push-pull device 25 comprises a push-pull sliding table 251 horizontally slidingly mounted on the horizontal support beam 23, the horizontal support beam 23 is provided with two horizontal support rails 231, the push-pull sliding table 251 is provided with sliding blocks slidingly matched with the horizontal support rails 231, and the push-pull power device 26 comprises a push-pull driving motor 261 and a push-pull circulating chain 632 driven by the push-pull driving motor 261, the push-pull circulating chain 632 is connected with the push-pull sliding table 251, of course, push-pull circulating sprockets 262 can be arranged at both ends and the middle of the horizontal support beam 23 to facilitate the circulating operation of the push-pull circulating chain 632, and the number of the push-pull circulating chain 632 is two, so that the movement of the push-pull sliding table 251 is more reliable. And the side of the push-pull sliding table 251 close to the vertical warehouse 1 is movably mounted with a push-pull clamping block 254, the push-pull clamping block 254 is driven by a clamping block driving device to expose or hide from the push-pull sliding table 251. Both ends of the push-pull sliding table 251 are provided with mounting grooves 253, the push-pull clamping block 254 is located in the mounting groove 253 and is installed on the push-pull sliding table 251 by deflection of the deflection shaft 252, and the bottom of the push-pull sliding table 251 is provided with a deflection power device for driving the deflection of the deflection shaft 252. Among them, the deflection power device can drive the deflection of the deflection shaft 252 in the form of deflection motor and worm gear transmission, for example, the deflection motor is fixed at the bottom of the push-pull sliding table 251, the output shaft of the deflection motor and the deflection shaft 252 can be power transmission through the worm gear transmission mechanism, of course, it can also be driven by gear transmission mechanism. Of course, the deflection power device can also directly drive the deflection by using a deflection cylinder, one end of the deflection cylinder is hinged to the bottom of the push-pull sliding table 251, and the deflection shaft 252 is provided with a driving arm, the other end of the cylinder is hinged to the driving arm, so that the deflection of the deflection shaft 252 can be realized. The deflection of the deflection shaft 252 will drive the push-pull clamping block 254 to expose or hide from the mounting groove 253, and the push-pull clamping block 254 is located in the mounting groove 253, which is effectively supported by the mounting groove 253 when the material frame 4 is pushed or pulled.

[0055] In this embodiment, in order to make full use of the access capacity of the access truss robot 2, one vertical warehouse 1 is arranged on both sides of the access truss robot 2, and correspondingly, the push-pull clamping block 254 is mounted at both ends of the push-pull sliding table 251, and each push-pull clamping block 254 is correspondingly matched with the material frame 4 on one side of the vertical warehouse 1. In this way, when the push-pull sliding table 251 needs to access any material frame 4 on one side, the push-pull driving motor 261 can drive the push-pull sliding table 251 to move to the bottom of the material frame 4, and there is a push-pull clamping block 254 that can be matched with the material frame 4 to pull out the material frame 4, of course, in order to facilitate the better cooperation between the material frame 4 and the push-pull clamping block 254, the bottom of the material frame 4 can be provided with a step or an under edge or a handle, and the push-pull clamping block 254 can be hooked on the step or the under edge or the handle to complete the pulling.

[0056] In this embodiment, a replenishment station and a delivery station are further arranged on one side of the vertical warehouse 1, wherein the replenishment station is used to facilitate replenishment of the material frame 4 (working material frame 4) which has been filled with pipes or bars, and the access gantry robot 2 can take out the material frame 4 on the replenishment station and place it into the storage position 113, and the delivery station is used to facilitate the empty material frame 4 to be received by the access gantry robot 2, and the empty material frame 4 can be moved away on the delivery station, and preferably, the replenishment station and the delivery station can be located on the same side and close to each other, so that the access gantry robot 2 can transfer the material frame 4 on the nearby replenishment station into the vertical warehouse 1 after delivery. Corresponding conveying devices or handling mechanisms can be arranged on the replenishment station and the delivery station to realize automatic operation.

[0057] In addition, in this embodiment, the width of the horizontal support beam 23 can be widened, and two independent push-pull sliding tables 251 are arranged, that is, the horizontal support beam 23 has two side-by-side access stations, and of course, the mounting mode of the push-pull sliding table 251 is the same as the aforementioned mounting mode, so that the access efficiency can be further improved.

[0058] The above-described embodiments are only descriptions of the preferred embodiments of the present application and do not limit the scope of the present application. Various modifications and improvements of the technical solutions of the present application made without departing from the design spirit of the present application shall fall within the protection scope determined by the claims of the present application.

Claims

1. An intelligent storage and loading system for sawing pipes or bars, characterized by: The invention comprises at least one vertical warehouse, wherein the vertical warehouse is provided with a plurality of arrays of storage locations for storing material frames, and a movable access truss robot for taking out or putting material frames from the storage location is provided on one side of the vertical warehouse; at least one group of loading stations and loading temporary storage locations arranged side by side are provided below the vertical warehouse, and the access truss robot transfers the material frame in any storage location to the loading temporary storage location, and a loading rack is installed at the loading station, and a sawing main machine is provided at one end of the loading rack. A transfer device is provided between the loading station and the loading temporary storage location to transfer the pipes or bars in the material frame to the loading rack one by one. The loading rack is provided with a clamping mechanism for axially feeding the steel pipe to the sawing main machine. The transfer device includes a transfer frame, and a plurality of transfer slides are slidably installed on the transfer frame. Each transfer slide is driven by a horizontal transfer power device to slide back and forth synchronously between the loading station and the loading temporary storage location. A connecting rod lifting mechanism is installed on each transfer slide. The mechanism is driven to lift by a transfer lifting power device, and a magnetic block or transfer clamp is installed at the bottom of the connecting rod lifting mechanism, and the connecting rod lifting mechanism includes a first upper link and a second upper link, a first intermediate link and a second intermediate link, and a first lower link and a second lower link, the middle parts of the first intermediate link and the second intermediate link are hinged by an intermediate hinge shaft, and the upper ends of the first intermediate link and the second intermediate link are respectively hinged to the lower ends of the first upper link and the second upper link through the first upper hinge shaft and the second upper hinge shaft; the upper ends of the first upper link and the second upper link are hinged to each other on the transfer slide, and the lower ends of the first intermediate link and the second intermediate link are respectively hinged to the upper ends of the first lower link and the second lower link through the first lower hinge shaft and the second lower hinge shaft; the lower ends of the first lower link and the second lower link are hinged to each other and connected to the magnetic block or the transfer clamp, and the transfer lifting power device is a linear power device, which is installed between the first upper hinge shaft and the second upper hinge shaft.

2. The intelligent storage and loading system for sawing pipes or bars according to claim 1, characterized in that: The loading rack is provided with a supporting and conveying roller group, and the clamping mechanism is provided downstream of the supporting and conveying roller group. The clamping mechanism includes a clamping slide mounted on the loading rack for longitudinal sliding. The clamping slide is driven by a clamping power device to slide along the length direction of the pipe or rod, and a clamp for clamping the pipe or rod is installed on the clamping slide.

3. The intelligent storage and loading system for sawing pipes or bars according to claim 1, characterized in that: The storage and retrieval truss robot includes a walking frame, which is driven by a walking mechanism to move in a straight line. A horizontal supporting beam is vertically slidably installed on the walking frame. A vertical lifting power device is provided on the walking frame to drive the horizontal supporting beam to rise and fall. A push-pull device for pulling or pushing the material frame is horizontally slidably installed on the horizontal supporting beam. The push-pull device is driven by a push-pull power device. Support rollers are provided on the horizontal supporting beam to facilitate the sliding of the material frame.

4. The intelligent storage and loading system for sawing pipes or bars according to claim 3, characterized in that: The push-pull device includes a push-pull slide mounted horizontally on a horizontal supporting beam, the push-pull power device includes a push-pull drive motor and a push-pull circulation chain driven by the push-pull drive motor, the push-pull circulation chain is connected to the push-pull slide, and a push-pull card block is movably mounted on the side of the push-pull slide close to the vertical warehouse, and the push-pull card block is driven by the card block driving device to be exposed or hidden from the push-pull slide.

5. The intelligent storage and loading system for sawing pipes or bars according to claim 4, characterized in that: A vertical warehouse is provided on both sides of the storage and retrieval truss robot. Correspondingly, push-pull card blocks are installed on both ends of the push-pull slide, and each push-pull card block corresponds to the material frame on the vertical warehouse on one side.

6. The intelligent storage and loading system for sawing pipes or bars according to claim 5, characterized in that: Both ends of the push-pull slide are provided with mounting grooves, the push-pull card block is located in the mounting grooves and is mounted on the push-pull slide via a deflection shaft, and a deflection power device for driving the deflection shaft to deflect is mounted at the bottom of the push-pull slide.

7. An intelligent storage and loading system for sawing pipes or bars according to any one of claims 1 to 6, characterized in that: The vertical warehouse includes at least one vertical warehouse module, each vertical warehouse module includes two rows of columns arranged at intervals, the columns in the same row are fixed by a number of horizontally arranged connecting support beams, and the columns in different rows are connected and fixed by a number of diagonal braces; different vertical warehouse modules are fixed by a detachable middle connecting beam, and the connecting support beams on the same horizontal plane in each vertical warehouse module cooperate with each other to form a bottom support beam for the storage location, the material frame is placed on the connecting support beam, and the connecting support beam is provided with a support roller for facilitating the transportation of the material frame.

8. The intelligent storage and loading system for sawing pipes or bars according to claim 7, characterized in that: A connecting seat is provided on the column between the connecting support beams, and an additional support beam parallel to the connecting support beam is detachably connected between the connecting seats between adjacent columns. The additional support beams at the same height between adjacent columns constitute the bottom support beams for the supplementary storage location, and the support roller is provided on the additional support beam.

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